CN109230081A

CN109230081A - A kind of waste management method and system based on robot

Info

Publication number: CN109230081A
Application number: CN201811333455.XA
Authority: CN
Inventors: 胡彬
Original assignee: Jiangsu Mumeng Intelligent Technology Co Ltd
Current assignee: Jiangsu Mumeng Intelligent Technology Co Ltd
Priority date: 2018-11-09
Filing date: 2018-11-09
Publication date: 2019-01-18
Anticipated expiration: 2038-11-09
Also published as: CN109230081B

Abstract

A kind of waste management method and system based on robot, method include: the location information that robot localization obtains itself；Robot is equipped with loading platform；Intelligent dustbin obtains rubbish and launches corresponding first identity information of user, opens corresponding smart lock according to the first identity information；The intelligent dustbin record rubbish release time simultaneously detects the garbage throwing weight information for being thrown to case internal rubbish；Server obtains and the rubbish of save location information and rubbish dispensing user launch record；Intelligent dustbin generates garbage transporting instruction；Region is launched according to target rubbish is moved to by robot；Robot loads Intelligent target dustbin to loading platform；Robot is moved to waste management region, and the intelligent dustbin of loading is offloaded to waste management region.The present invention realizes the hygienic issues solved during garbage transporting.Supervision with control rubbish dispense link, so as to it is subsequent carry out retrospect investigate.Without manually transporting rubbish, cost of labor is reduced.

Description

A kind of waste management method and system based on robot

Technical field

The present invention relates to field in intelligent robotics, espespecially a kind of waste management method and system based on robot.

Background technique

With the development of economy with the quickening of urbanization process, the yield of rubbish is increasing, and garbage treatment quantity is also got over Come it is bigger, if rubbish is handled not in time, the processing links of not stringent control specification rubbish, it may appear that stink disturbs residents, and influences ring The phenomenon that border.

In the prior art, weighed automatically the weight of rubbish when receiving and transporting rubbish using intelligent scale, and the weight of rubbish from It is dynamic to upload onto the server.Also, garbage collection stage (rubbish is gone to launch the stage that rubbish is collected in region) and rubbish summarize The concentration stage (summarizes the rank for being collected into rubbish dispensing region and concentrate storage management for the rubbish that region is collected is launched from rubbish Section), the two stages all carry out electronics handover by barcode scanning mode, accomplish with no paper information record garbage weight.

Only summarize the concentration stage in garbage collection stage and rubbish has accomplished garbage transporting supervision to the prior art, but still Rubbish so is transported by artificial, and garbage transporting can not monitor on the way.The mode of this artificial transport rubbish still there are many Disadvantage.First is that manually transporting rubbish, the hygienic issues during garbage transporting can not be solved.Second is that rubbish can not be supervised and be controlled Rubbish dispenses link, and such as manually rubbish is stealthily substituted, is lost, or situations such as handover mistake, retrospect of having no way of is investigated.Third is that artificial transport The working strength of rubbish is high, and spirit and physical strength to labour personnel are undoubtedly a kind of acid test, and cost of labor is more next It is higher, greatly affect corporate income.

Summary of the invention

The waste management method and system based on robot that the object of the present invention is to provide a kind of are realized and solve garbage transporting Hygienic issues in the process.Supervision dispenses link with control rubbish, and such as manually rubbish is stealthily substituted, is lost, or handover mistake etc. Situation, so as to it is subsequent carry out retrospect investigate.Without manually transporting rubbish, reduce cost of labor, have good environmental benefit and Social benefit.

Technical solution provided by the invention is as follows:

The present invention provides a kind of waste management system based on robot, comprising: server, several intelligent dustbins and Robot；The server includes: third communication module and Second processing module；The intelligent dustbin includes cabinet, chamber door, Smart lock is equipped at the chamber door；The intelligent dustbin includes obtaining module, first processing module, being set to the bottom of box Weighing module, first communication module, unlocking control module；The robot includes second communication module, mobile module, positioning Module and control module；The robot is equipped with loading platform；

The locating module, for positioning the location information for obtaining robot；

The second communication module is connect with the locating module, logical to the third for sending the location information Believe module；

The acquisition module launches corresponding first identity information of user for obtaining rubbish；

The unlocking control module is connect with the acquisition module, is corresponded to for being opened according to first identity information Smart lock；

The first processing module, for recording the rubbish release time；

The Weighing module, for detecting the garbage throwing weight information for being thrown to the case internal rubbish；

The first communication module connects with the acquisition module, the first processing module and the Weighing module respectively It connects, the rubbish that user is launched for sending the rubbish launches record to the third communication module；The rubbish launches record Region, first identity information, the rubbish release time and the garbage throwing weight information are launched including rubbish；

The first processing module is also used to generate garbage transporting instruction；The garbage transporting instruction includes target rubbish Launch the label in region and intelligent dustbin；

The first communication module is also used to send the garbage transporting and instructs to the robot；

The mobile module, the rubbish for being obtained according to the second communication module from the first communication module Transport instruction is moved to the target rubbish and launches region；

The control module, for loading Intelligent target dustbin to the loading platform；

The mobile module is moved to waste management after the Intelligent target dustbin is loaded to the loading platform Region；

The control module is also used to for the intelligent dustbin of the loading to be offloaded to the waste management region；

The Second processing module, for obtain and save from the third communication module obtain the location information and The rubbish that the rubbish launches user launches record.

Further, the intelligent dustbin is equipped with bottom plate；The bottom edge is opposite to be equipped with several support legs, described Bottom plate and support leg form accommodation space；

The control module is also used to when being moved to the target rubbish and launching at region, tune up the loading platform with Height between ground, so that loading platform docking is contained in target accommodation space；

The control module is also used to turn the loading down after the loading platform docks and is contained in target accommodation space Until height to the loading platform and the contacts baseplate between platform and the bottom plate, so that the Intelligent target dustbin fills It is loaded on the loading platform；

Wherein, the target accommodation space is the accommodation space of the Intelligent target dustbin.

Further, the rubbish launches region and is equipped with deck；The bottom of box length and width are less than or equal to the loading platform Length and width, the opposite sides of the top of the box is equipped with the card slot for adapting to the deck support portion, and the height of the cabinet is big In the length for being equal to support portion vertical direction；

The control module adjusts the load when being also used at the target deck for being moved to rubbish dispensing region Height between load bed and ground, controlling the loading platform carries the Intelligent target dustbin disengaging target deck, So that the Intelligent target dustbin is loaded to the loading platform；

Wherein, the target deck is the deck for being supported by the Intelligent target dustbin.

Further, the acquisition module is also used to obtain corresponding second identity information of waste management user；

The unlocking control module is also used to open corresponding smart lock according to second identity information；

The first processing module is also used to record rubbish and takes the time away；

The Weighing module, be also used to detect be removed rubbish out of described cabinet take garbage weight information away；

The first communication module is also used to send rubbish and takes record away to the third communication module；The rubbish takes Walking record includes that second identity information, the rubbish take the time away and described takes garbage weight information away；

The Second processing module is also used to obtain and save and take away from the rubbish that the third communication module obtains Record.

Further, the intelligent dustbin further include: alarm module；

The alarm module is connect with the Weighing module, for transporting when from rubbish dispensing region to waste management area When detecting that the intracorporal garbage weight of the case changes during domain, warning message is generated；

The first communication module is connect with the alarm module, logical to the third for sending the warning message Believe module.

Further, the intelligent dustbin further include: photographing module；

The photographing module is connect with the Weighing module, for transporting when from rubbish dispensing region to waste management area When detecting that the intracorporal garbage weight of the case changes during domain, starting is set to camera progress video record and obtains Monitoring video；

The first communication module is connect with the photographing module, logical to the third for sending the monitoring video Believe module.

Further, the first processing module is also used to the garbage throwing weight letter when the Weighing module detects When breath reaches preset weight threshold value, the garbage transporting instruction is generated；

The first processing module is also used to get the confirmation message that rubbish launches user's input when the acquisition module Afterwards, the garbage transporting instruction is generated.

Further, the control module is also used to load the intelligent dustbin for being in empty van state；

The control module is also used to be moved to the target rubbish when the loading intelligent dustbin in empty van state After rubbish launches region, the unloading intelligent dustbin for being in empty van state.

The waste management method based on robot that the present invention also provides a kind of, comprising steps of

Robot localization obtains the location information of itself, and is sent to server；The robot is equipped with loading platform；

Intelligent dustbin obtains rubbish and launches corresponding first identity information of user, is opened according to first identity information Corresponding smart lock；The intelligent dustbin includes cabinet, chamber door, is equipped with smart lock at the chamber door；

The intelligent dustbin records the rubbish release time and detects the garbage throwing weight for being thrown to the case internal rubbish Measure information；

The rubbish that the intelligent dustbin sends the rubbish dispensing user launches record to the server；The rubbish Launching record includes that rubbish launches region, first identity information, the rubbish release time and the garbage throwing weight Information；

The server obtains and saves the location information and the rubbish launches the rubbish dispensing record of user；

The intelligent dustbin generates garbage transporting instruction；Garbage transporting instruction include target rubbish launch region and The label of intelligent dustbin；

The robot is moved to the target rubbish according to the garbage transporting instruction obtained from the intelligent dustbin Rubbish launches region；

The robot loads Intelligent target dustbin to the loading platform；

The robot is moved to waste management region, and the intelligent dustbin of the loading is offloaded to the waste management Region.

The robot loads Intelligent target dustbin to specifically including step on the loading platform:

When being moved at target rubbish dispensing region, the robot is tuned up between the loading platform and ground Highly, so that loading platform docking is contained in target accommodation space；

After loading platform docking is contained in target accommodation space, the robot turns the loading platform and the bottom down Until height to the loading platform and the contacts baseplate between plate, so that the Intelligent target dustbin is loaded to the load In load bed；

The robot loads Intelligent target dustbin to specifically further comprising the steps of: on the loading platform

When at the target deck for being moved to rubbish dispensing region, the robot adjusts the loading platform and ground Between height, control the loading platform and carry the Intelligent target dustbin and be detached from the target deck, so that the mesh Mark intelligent dustbin is loaded to the loading platform；

Further, the robot is moved to waste management region, and the intelligent dustbin of the loading is offloaded to institute Waste management region is stated to further comprise the steps of: later

The intelligent dustbin obtains corresponding second identity information of waste management user；

The intelligent dustbin opens corresponding smart lock according to second identity information；

Intelligent dustbin record rubbish takes the time away, and detect be removed rubbish out of described cabinet take rubbish away Weight information；

The intelligent dustbin sends rubbish and takes record away to the server；It includes described that the rubbish, which takes record away, Two identity informations, the rubbish take the time away and described take garbage weight information away；

The server, which obtains and saves the rubbish, takes record away.

Further, it further comprises the steps of:

The intracorporal garbage weight of the case is detected when launching during region is transported to waste management region from rubbish When changing, the intelligent dustbin generates warning message；

The intelligent dustbin sends the warning message to the server.

Further, it further comprises the steps of:

The intracorporal garbage weight of the case is detected when launching during region is transported to waste management region from rubbish When changing, the intelligent dustbin starting camera carries out video record and obtains monitoring video；

The intelligent dustbin sends the monitoring video to the server.

Further, the intelligent dustbin generates garbage transporting instruction and specifically includes step:

When the garbage throwing weight information detected reaches preset weight threshold value, the intelligent dustbin generates the rubbish Rubbish transport instruction；Or,

After getting the confirmation message of rubbish dispensing user's input, the intelligent dustbin generates the garbage transporting and refers to It enables.

Further, the robot is after the intelligent dustbin acquisition garbage transporting instruction, the machine People be moved to the target rubbish launch before region comprising steps of

The robot loads the intelligent dustbin for being in empty van state；

The robot is moved to after target rubbish dispensing region, and the robot fills Intelligent target dustbin Before being loaded on the loading platform comprising steps of

The robot unloading intelligent dustbin in empty van state to the target rubbish launches region.

A kind of waste management method and system based on robot provided through the invention are realized and solve garbage transporting mistake Hygienic issues in journey.Supervision dispenses link with control rubbish, and such as manually rubbish is stealthily substituted, is lost, or the feelings such as handover mistake Condition, so as to it is subsequent carry out retrospect investigate.Without manually transporting rubbish, cost of labor is reduced, there is good environmental benefit and society It can benefit.

Detailed description of the invention

Below by clearly understandable mode, preferred embodiment is described with reference to the drawings, to a kind of rubbish based on robot Above-mentioned characteristic, technical characteristic, advantage and its implementation of rubbish management method and system are further described.

Fig. 1 is the flow chart of one embodiment of the waste management method the present invention is based on robot；

Fig. 2 is the structural schematic diagram of robot of the present invention；

Fig. 3 is the structural schematic diagram of the first intelligent dustbin of the invention；

Fig. 4 is that the structural schematic diagram of second of intelligent dustbin of the present invention and intelligent dustbin are placed at deck Schematic diagram；

Fig. 5 is that robot of the present invention loads the intelligent dustbin being placed on deck to the schematic diagram of loading platform；

The chamber door open shape of intelligent dustbin when Fig. 6 is robot carrying second of intelligent dustbin to loading platform of the present invention Schematic diagram under state and chamber door closed state；

Fig. 7 is the flow chart of another embodiment of the waste management method the present invention is based on robot；

Fig. 8 is the flow chart of another embodiment of the waste management method the present invention is based on robot；

Fig. 9 is the structural schematic diagram of one embodiment of the waste management system the present invention is based on robot.

Specific embodiment

In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, Detailed description of the invention will be compareed below A specific embodiment of the invention.It should be evident that drawings in the following description are only some embodiments of the invention, for For those of ordinary skill in the art, without creative efforts, it can also be obtained according to these attached drawings other Attached drawing, and obtain other embodiments.

To make simplified form, part related to the present invention is only schematically shown in each figure, they are not represented Its practical structures as product.In addition, there is identical structure or function in some figures so that simplified form is easy to understand Component only symbolically depicts one of those, or has only marked one of those.Herein, "one" is not only indicated " only this ", can also indicate the situation of " more than one ".

One embodiment of the invention, as shown in Figure 1, a kind of waste management method based on robot, comprising:

The positioning of S100 robot 2 obtains the location information of itself, and is sent to server；Robot 2 is equipped with loading platform 22；

Specifically, robot 2 passes through location technology (such as GPS positioning technology, inertial navigation location technology, vision in real time In location technology any one or it is a variety of) carry out positioning and obtain itself location information, will, on the location information that will acquire Server is offered, so that server monitoring grasps 2 position of robot, thus to each garbage transporting link of robot 2 Rubbish input situation is tracked.

S200 intelligent dustbin 1 obtains rubbish and launches corresponding first identity information of user, is beaten according to the first identity information Open corresponding smart lock；Intelligent dustbin 1 includes cabinet 12, chamber door 13, is equipped with smart lock at chamber door 13；

Specifically, presetting the corresponding relationship of identity information and unlocking authority.The corresponding unlocking of one identity information Permission, a unlocking authority can open the smart lock at one or more chamber door 13.Smart lock includes but is not limited to electricity Magnetic padlock, induction lock, Fingerprint Lock.It is the user with the 12 garbage throwing permission of cabinet to intelligent dustbin 1 that rubbish, which launches user,.

Intelligent dustbin 1 obtains the first identity information that rubbish launches user.The acquisition modes of first identity information can be with It is that rubbish dispensing user holds with the radio-frequency card, employee's card, identity card of self-identity information etc. certification card is represented, close to intelligence rubbish The scanning recognition region of rubbish case 1 obtains corresponding first identity information according to recognition result.Being also possible to rubbish dispensing user will Finger transfers the first identity information corresponding with fingerprint recognition result close to fingerprint identification region.After obtaining the first identity information, It can be according to the analysis of the first identity information and its unlocking authority that is mutually related, to open corresponding intelligence according to unlocking authority Lock.

Preferably, identity information and unit department can be bound, thus after getting the identity information of user, it can It can know that the rubbish launches department of user affiliated unit with the first identity information for launching user according to rubbish.

For example, the dedicated intelligent dustbin 1 of staff at hospital dermatology department only has doctor, the nurse of hospital dermatology department The smart lock that there is equal staff unlocking authority to open at the chamber door 13 of intelligent dustbin 1 carries out rubbish dispensing, and irrelevant Staff's such as sufferer does not have unlocking authority then and uses the dedicated intelligent dustbin 1 of staff at hospital dermatology department. Certainly, in order to guarantee that the rubbish of irrelevant staff launches demand, its inoperative that can be used is set for non-working person The dedicated intelligent dustbin 1 of personnel.The first identity of the available non-working person of the dedicated intelligent dustbin 1 of non-working person Information, being then similar to Portal gate verification online in the prior art, like that, intelligent dustbin 1 is according to the inoperative got The first identity information of personnel temporarily authorizes its unlocking authority, record is launched convenient for recording the rubbish of non-working person, to chase after The rubbish of each user of track launches habit.

S300 intelligent dustbin 1 records the rubbish release time and detects the garbage throwing weight for being thrown to rubbish in cabinet 12 Information；

Specifically, 12 bottom of cabinet of intelligent dustbin 1 is equipped with weighing inductor (such as gravity sensor, pressure sensor Etc.), by the 12 inside garbage throwing of cabinet to intelligent dustbin 1, can be arranged according to 1 cabinet of intelligent dustbin, 12 bottom Weighing inductor, the last moment weight value of detection and current time weight value, which subtract each other to obtain rubbish, launches the rubbish that user launches The weight value of rubbish, that is, rubbish launches user in current time corresponding garbage throwing weight information.

The rubbish that S400 intelligent dustbin 1 sends rubbish dispensing user launches record to server；Rubbish launches record packet It includes rubbish and launches region, the first identity information, rubbish release time and garbage throwing weight information；

S500 server obtains and the rubbish of save location information and rubbish dispensing user launch record；

Specifically, intelligent dustbin 1 sends the rubbish dispensing record that rubbish launches user, so that server will be from intelligent rubbish The rubbish obtained at rubbish case 1 is launched record and is stored, to overcome manually subjective judgement pipe existing in the prior art The problem of managing or managing without information exchange obtains rubbish by network by server and launches record, so that server grasp It is which user on earth in which rubbish dispensing region progress rubbish dispensing, and grasps the garbage throwing weight information of the user It with rubbish release time information, is launched and is recorded according to rubbish convenient for subsequent server, analysis obtains each rubbish and launches region The intelligent dustbin 1 of much capacity, how much quantity should be placed, each rubbish of science launches region setting and matches in time Intelligent dustbin 1, reasonable distribution use intelligent dustbin 1, while reducing by 1 vacant unused probability of intelligent dustbin, due to 1 quantity of intelligent dustbin that the big rubbish of rubbish injected volume launches region setting is adapted to rubbish injected volume, to reduce rubbish The phenomenon that can nowhere losing, promotes the usage experience of user's garbage throwing.

S600 intelligent dustbin 1 generates garbage transporting instruction；Garbage transporting instruction includes that target rubbish launches region and intelligence The label of energy dustbin 1；

S700 robot 2 obtains garbage transporting instruction from intelligent dustbin 1；

S750 robot 2 is moved to target rubbish and launches region；

S800 robot 2 loads Intelligent target dustbin 1 to loading platform 22；

S900 robot 2 is moved to waste management region, and the intelligent dustbin 1 of loading is offloaded to waste management region.

It is instructed specifically, intelligent dustbin 1 generates garbage transporting according to itself label and region, by the rubbish of generation Transport instruction is sent to robot 2, after robot 2 receives the garbage transporting instruction of the transmission of intelligent dustbin 1, according to it is current when Quarter, state judged whether to agree to that the garbage transporting instructs, and robot 2 is divided according to remaining capacity, itself task list of itself Analysis just agrees to the rubbish of the intelligent dustbin 1 transmission if remaining capacity is sufficient, and when the task in task list is zero Transport instruction, and target rubbish is moved to according to garbage transporting instruction and launches region.In addition, server can participate in deploying, i.e., Garbage transporting instruction is sent to server by intelligent dustbin 1, and server is determined according to the state for monitoring each robot 2 by rubbish Rubbish transport instruction is transmitted to which robot 2, in this way, receiving the robot 2 of garbage transporting instruction just according to from server The garbage transporting instruction that place obtains is moved to target rubbish and launches region.

After robot 2 is moved to target rubbish dispensing region, Intelligent target dustbin 1 is loaded to the loading platform 22 of itself On, then robot 2 is moved to waste management region, and the intelligent dustbin 1 of loading is offloaded to waste management region.

Illustratively, it is assumed that there is rubbish to launch region A and B, rubbish, which is launched, to be set at the A of region there are three intelligent dustbin 1a, B, c, if intelligent dustbin 1a generates and sends garbage transporting and instructs to robot 2, robot 2 receives and agrees to garbage transporting After instruction, target rubbish is moved to according to garbage transporting instruction and launches region i.e. rubbish dispensing region A, by Intelligent target dustbin 1 i.e. intelligent dustbin 1a is loaded to the loading platform 22 of itself, is then moved to waste management region and is unloaded.

Operation of the present invention is simple, specification, realizes the automatic orderization management recording and tracking of each garbage transporting link, Also the operating condition of staff is substantially improved, the hygienic issues during garbage transporting are solved.Supervision and control rubbish dispatching Link, such as manually rubbish is stealthily substituted, is lost, or handover mistake situations such as, so as to it is subsequent carry out retrospect investigate.Without manually transporting Rubbish is sent, cost of labor is reduced, there is good environmental benefit and social benefit.

Preferably, shown in as shown in Figures 2 and 3, intelligent dustbin 1 is equipped with bottom plate 11；11 edge of bottom plate is equipped with several relatively A support leg 14, bottom plate 11 and support leg 14 form accommodation space 15；

S800 robot 2 will specifically include step on the loading to loading platform 22 of Intelligent target dustbin 1:

For S810 when being moved at target rubbish dispensing region, robot 2 tunes up the height between loading platform 22 and ground, So that the docking of loading platform 22 is contained in target accommodation space 15；

For S820 after the docking of loading platform 22 is contained in target accommodation space 15, robot 2 turns loading platform 22 and bottom plate 11 down Between height until loading platform 22 is contacted with bottom plate 11 so that Intelligent target dustbin 1 is loaded on loading platform 22；

Wherein, target accommodation space 15 is the accommodation space 15 of Intelligent target dustbin 1.

Specifically, the height of support leg 14 is greater than the height of loading platform 22, the length of loading platform 22 is greater than the length of bottom plate 11 Degree, the width of bottom plate 11 is greater than the width of loading platform 22, in this way, it is several that the bottom margin of bottom plate 11 can be made to be oppositely arranged The accommodation space 15 that a support leg 14 is formed with bottom plate 11 can accommodate loading platform 22.When robot 2 is instructed according to garbage transporting When reaching target rubbish dispensing region, the height between the loading platform 22 and ground of itself is tuned up, so that the docking of loading platform 22 is held It is contained in the accommodation space 15 i.e. target accommodation space 15 of Intelligent target dustbin 1.It is accommodated when the docking of loading platform 22 is contained in target Behind space 15, robot 2 turns the height between loading platform 22 and bottom plate 11 down until loading platform 22 is contacted with bottom plate 11, so that Intelligent target dustbin 1 is loaded to the loading platform 22 of itself, completes the loading of Intelligent target dustbin 1.

Robot 2 is moved towards by the target accommodation space 15 of Intelligent target dustbin 1, so that the loading platform of robot 2 22 are docked with target accommodation space 15, so that the loading platform 22 of robot 2 be enabled to be surround by target accommodation space 15, are determined and are carried After the docking of load bed 22 is contained in target accommodation space 15, the height between loading platform 22 and bottom plate 11 is adjusted by elevating mechanism 21 Until loading platform 22 is contacted with bottom plate 11, so that loading platform 22 jacks up Intelligent target dustbin 1, then pass through elevator Structure 21 increases the height between loading platform 22 and ground until being more than or equal between the bottom and ground of Intelligent target dustbin 1 Highly, Intelligent target dustbin 1 is completed to load to the purpose of loading platform 22.

Preferably, a movable pulley 16 is also provided at each support leg 14.Movable pulley 16 is set, it can be in order to work Make the loading platform 22 that personnel push intelligent dustbin 1 close to robot 2, realizes that easily docking loads intelligent dustbin 1 to loading The purpose of platform 22.

Preferably, as shown in Fig. 2,4,5 and 6, rubbish launches region and is equipped with deck 3；12 bottom length and width of cabinet are less than or equal to The opposite sides of 22 length and width of loading platform, 12 top of cabinet is equipped with the card slot 17 for adapting to 3 support portion 31 of deck, and the height of cabinet 12 Degree is more than or equal to the length of 31 vertical direction of support portion；

S800 robot 2 will specifically further comprise the steps of: on the loading to loading platform 22 of Intelligent target dustbin 1

When S830 is at the target deck 3 for being moved to rubbish dispensing region, robot 2 is adjusted between loading platform 22 and ground Height, control loading platform 22 carry 1 breakaway deck 3 of Intelligent target dustbin so that Intelligent target dustbin 1 load To loading platform 22；

Wherein, target deck 3 is the deck 3 for being supported by Intelligent target dustbin 1.

Specifically, the opposite sides at 12 top of cabinet is equipped with the card slot 17 for adapting to deck 3, and the height of cabinet 12 is big In the length for being equal to 31 vertical direction of support portion.The opposite sides at 12 top of cabinet is equipped with the card slot 17 for adapting to deck 3, i.e., should The length of card slot 17 is less than or equal to the length of 31 horizontal direction of support portion, in this way can be by the card slot 17 of entire intelligent dustbin 1 It is completely embedded into deck 3.

The support portion 31 of horizontal direction is the support portion 31 parallel with ground extension direction, and the support portion 31 of vertical direction is The support portion 31 vertical with ground extension direction.The bottom length and width of intelligent dustbin 1 are less than or equal to the length and width of loading platform 22.In figure A kind of structure of deck 3 is only illustrated, other structures that can block support intelligent dustbin 1 protect model in the present invention In enclosing.

On the loading platform 22 that intelligent dustbin 1 is placed in robot 2, and robot 2 is controlled by elevating mechanism 21 The lifting of loading platform 22, to control the height between Intelligent target dustbin 1 and ground, robot 2 passes through elevating mechanism 21 Control Intelligent target dustbin 1 is increased with the increase of height between loading platform 22 and ground, meanwhile, robot 2 is towards mesh Mark the space movement that the support portion 31 of deck 3 is formed, i.e., the support portion relative to horizontal direction of card slot 17 at the top of cabinet 12 31 do relative motion, and robot 2 carries the movement of Intelligent target dustbin 1, until card slot 17 is completely accommodated in the branch of horizontal direction Support part 31.Then, robot 2 controls Intelligent target dustbin 1 with high between loading platform 22 and ground by elevating mechanism 21 The reduction of degree and reduce, until card slot 17 is contacted with the support portion 31 of horizontal direction, realize Intelligent target dustbin 1 pacify Entirely, the stable purpose for being placed in target deck 3.It is mobile towards target deck 3 that 2 side of robot is only illustrated herein, Bian Zeng Big height of the loading platform 22 relative to ground, reduces height of the loading platform 22 relative to ground again after movement in place, realize unloading Intelligent target dustbin to target deck 3 scene.Robot 2 increases height of the loading platform 22 relative to ground, then direction After the movement in place of target deck 3, then height of the loading platform 22 relative to ground is reduced, realizes unloading Intelligent target dustbin to mesh The scene of mark deck 3 no longer repeats one by one again.

Preferably, if cabinet is not provided with thrust groove 18, what the support portion 31 of robot 2 towards target deck 3 was formed Space is mobile, i.e., the support portion 31 relative to horizontal direction of card slot 17 at the top of cabinet 12 does relative motion, and robot 2 carries Intelligent target dustbin 1 is mobile, until card slot 17 is completely accommodated in the support portion 31 of horizontal direction, until card slot 17 and deck 3 Installation face contact until.

Preferably, if cabinet be equipped with thrust groove 18, robot 2 towards target deck 3 support portion 31 formed sky Between move, i.e., the support portion 31 relative to horizontal direction of card slot 17 at the top of cabinet 12 does relative motion, and robot 2 carries mesh The movement of intelligent dustbin 1 is marked, until card slot 17 is completely accommodated in the support portion 31 of horizontal direction, and thrust groove 18 and vertical side To support portion 31 contact until.

When robot 2 instructs according to garbage transporting and to reach target rubbish and launch region, adjust itself loading platform 22 with Height between ground, so that the bottom of loading platform 22 and the Intelligent target dustbin 1 being placed at deck 3 completely attaches to and is Only, the height between the loading platform 22 and ground of itself is then tuned up, it is de- that control loading platform 22 carries Intelligent target dustbin 1 From target deck 3, so that Intelligent target dustbin 1 is loaded to the loading platform 22 of itself, the dress of Intelligent target dustbin 1 is completed It carries.

Robot 2 is mobile towards that will be placed at the target deck 3 of Intelligent target dustbin 1, so that the loading of robot 2 Platform 22 is docked with the space under Intelligent target dustbin 1, to enable the loading platform 22 of robot 2 by Intelligent target dustbin Spatial loop under 1 is around passing through elevating mechanism 21 after determining that the docking of loading platform 22 is contained in the space under Intelligent target dustbin 1 The height between loading platform 22 and bottom plate 11 is adjusted until loading platform 22 is contacted with bottom plate 11, so that loading platform 22 is by target Intelligent dustbin 1 jacks up, and then increases the height between loading platform 22 and ground by elevating mechanism 21 until being more than or equal to mesh The height between the bottom and ground of intelligent dustbin 1 is marked, Intelligent target dustbin 1 is completed and loads to the purpose of loading platform 22.

The intelligent dustbin 1 of the above two structure of the present invention can be applied in including but not limited to hospital, bookstore, supermarket Etc. the scene for needing transport of refuse, rubbish launches user and rubbish is thrown to the cabinet that rubbish launches the intelligent dustbin 1 in region After in 12, robot 2 goes to target rubbish to launch regional load Intelligent target dustbin 1 according to garbage transporting instruction, then holds Intelligent target dustbin 1 is carried to waste management region and is unloaded.

Therefore the enclosed intelligent dustbin 1 equipped with smart lock is carry by robot 2 and carries out garbage transporting, realized The purpose of intelligent transport of refuse greatly reduces cost of labor and the task amount of staff.And since rubbish is to put It is placed in the cabinet 12 of the intelligent dustbin 1 under locked state, this enclosed garbage transporting process only has permission User could launch and take out rubbish, allow entire garbage transporting process to be in reliable air-tight state, promote garbage transporting process Supervision reliability, promoted user (hospital, bookstore, supermarket etc.) garbage transporting management experience, reduce the people of user Work cost has high efficiency, accuracy, safety, improves garbage transporting efficiency and intelligent level.

Based on previous embodiment, as shown in fig. 7, S900 robot 2 is moved to waste management region, by the intelligent rubbish of loading Rubbish case 1 is offloaded to after waste management region further include:

S910 intelligent dustbin 1 obtains corresponding second identity information of waste management user；

S920 intelligent dustbin 1 opens corresponding smart lock according to the second identity information；

S930 intelligent dustbin 1 records rubbish and takes the time away, and detect be removed rubbish out of cabinet 12 take rubbish away Weight information；

S940 intelligent dustbin 1 sends rubbish and takes record away to server；Rubbish take away record include the second identity information, Rubbish takes the time away and takes garbage weight information away；

S950 server, which obtains and saves rubbish, takes record away.

Specifically, being moved to waste management region when robot 2 carries intelligent dustbin 1, and will be on loading platform 22 After intelligent dustbin 1 is offloaded to waste management region, intelligent dustbin 1 obtains the corresponding second identity letter of waste management user Breath, then according to the corresponding smart lock of opening；

The second identity information of the acquisition waste management user of intelligent dustbin 1.The acquisition modes of second identity information can be with It is that waste management user holds with the radio-frequency card, employee's card, identity card of self-identity information etc. certification card is represented, close to intelligence rubbish The scanning recognition region of rubbish case 1 obtains corresponding second identity information according to recognition result.Being also possible to waste management user will Finger transfers the second identity information corresponding with fingerprint recognition result close to fingerprint identification region.After obtaining the second identity information, It can be according to the analysis of the second identity information and its unlocking authority that is mutually related, to open corresponding intelligence according to unlocking authority Lock.

For example, the dedicated intelligent dustbin 1 of staff at supermarket's garbage reclamation station only has at supermarket's garbage reclamation station Staff's the smart lock that there is unlocking authority to open at the chamber door 13 of intelligent dustbin 1 carry out garbage disposal, and it is irrelevant Staff such as customer does not have unlocking authority then and uses staff's special intelligent dustbin at supermarket's garbage reclamation station 1。

The present invention can be realized effective supervision of rubbish dispensing, garbage transporting, garbage disposal links, can facilitate note Rubbish input situation, garbage transporting situation, garbage disposal situation are recorded, it is convenient that rubbish situation is managed collectively.It is easy to operate, Specification realizes the automatic orderization management recording and tracking of each garbage transporting link, also substantially improves the work of staff Industry condition solves the hygienic issues during garbage transporting.Supervision dispenses link with control rubbish, such as manually rubbish is stealthily substituted, Lose, or handover mistake situations such as, so as to it is subsequent carry out retrospect investigate.Without manually transporting rubbish, cost of labor, tool are reduced There are good environmental benefit and social benefit.The intelligence to public places such as park, campus and cells may be implemented by robot 2 The intelligence of energy dustbin 1 is carried and rubbish unloading, solves the problems, such as rubbish cleaning not in time, has beautified environment and also liberated labor Power does not need supernumerary to manipulate, saves labour.

Preferably, further includes:

S1001 detects the rubbish weight in cabinet 12 during transporting from rubbish dispensing region to waste management region When amount changes, intelligent dustbin 1 generates warning message；

S1002 intelligent dustbin 1 sends warning message to server.

Intelligent dustbin 1 is loaded to the loading platform 22 of itself specifically, region is launched from rubbish by robot 2, to rubbish Rubbish management region is mobile, during launching region from rubbish and transporting to waste management region, if intelligent dustbin 1 detects When changing to the garbage weight in cabinet 12, illustrate someone it is mandatory open intelligent dustbin 1 chamber door 13 take away or In garbage throwing to cabinet 12, at this point, intelligent dustbin 1 will generate warning message, and the warning message of generation is sent to Server.It, can be according to acquisition when getting warning message since server obtains the location information of robot 2 in real time Time to warning message is known the alert locations of above-mentioned fortuitous event occurs, and goes to scene to understand feelings convenient for timely dispatch personnel Condition.

Preferably, further includes:

S1003 detects the rubbish weight in cabinet 12 during transporting from rubbish dispensing region to waste management region When amount changes, intelligent dustbin 1 starts camera progress video record and obtains monitoring video；

S1004 intelligent dustbin 1 sends monitoring video to server.

Intelligent dustbin 1 is loaded to the loading platform 22 of itself specifically, region is launched from rubbish by robot 2, to rubbish Rubbish management region is mobile, during launching region from rubbish and transporting to waste management region, if intelligent dustbin 1 detects When changing to the garbage weight in cabinet 12, illustrate someone it is mandatory open intelligent dustbin 1 chamber door 13 take away or In garbage throwing to cabinet 12, at this point, intelligent dustbin 1, which just will start camera progress video record, obtains monitoring video, and The monitoring video of generation is sent to server.When server gets monitoring video, it can be obtained according to monitoring video is got Know where who carry out unpacking and launches or take away rubbish.

Based on above two alarm scene, complete monitoring during waste transportation is realized, launch region from rubbish and go to The user that waste management region, garbage weight, waste transportation time and waste transportation participate in provides number by server entire process According to verification, accomplish the case where loss of rubbish zero, zero switch, zero handover malfunction.Pass through intelligent dustbin 1, robot 2 and server Data Detection and monitoring analysis can constantly optimize and improve waste transportation process, manual operation is reduced, to carry out complete The work flow of electronization.

Preferably, S600 intelligent dustbin 1 generates garbage transporting instruction and specifically includes step:

For S610 when the garbage throwing weight information detected reaches preset weight threshold value, intelligent dustbin 1 generates rubbish Transport instruction；Or,

For S620 after getting the confirmation message of rubbish dispensing user's input, intelligent dustbin 1 generates garbage transporting instruction.

Specifically, intelligent dustbin 1 illustrates this when the weight for the rubbish launched in cabinet 12 reaches preset weight threshold value Rubbish in intelligent dustbin 1 needs cleaning in time, therefore generates garbage transporting instruction to call robot 2 to go to loading and defeated It send to waste management region and is handled.This mode realizes automation, the intelligence of garbage transporting processing without artificial monitoring Change.The automatic forecasting clearing function for realizing intelligent dustbin 1 reduces intelligent rubbish to the fixed point selection processing on demand of intelligent dustbin 1 Cost is cleared in the patrol frequency of rubbish case 1, reduction.

If rubbish dispensing user therefore self-demand, after input validation information, intelligent dustbin 1 generates garbage transporting and refers to It enables to call robot 2 to go to load and be delivered to waste management region and be handled.This mode is adapted to user's Garbage transporting process demand detects the garbage throwing in cabinet 12 for example, rubbish is easy fermentation growth bacterium when summer in time Weight information is not up to preset weight threshold value, and user still can call robot 2 to load intelligent dustbin 1 with input validation information And it is delivered to waste management region and is handled.

The present invention integrates the information of each intelligent garbage bin, carries out remote supervisory and transfer environmental sanitation personnel in time to clear up rubbish Rubbish has the advantages that real-time monitoring, cleaning are supervised in time and efficiently.The efficiency for improving garbage disposal, reduces to environment Pollution, has saved a large amount of resource.

Based on previous embodiment, as shown in Figure 8, comprising:

S710 robot 2 loads the intelligent dustbin 1 for being in empty van state；

S750 robot 2 is moved to target rubbish and launches region；

Intelligent dustbin 1 of the unloading of S760 robot 2 in empty van state to target rubbish launches region；

S800 robot 2 loads Intelligent target dustbin 1 to loading platform 22；

Specifically, going to storage to be the intelligent dustbin 1 of free box-like state after robot 2 gets garbage transporting instruction Storage area, such as 2 dock area of the waste management region and robot (intelligent dustbin equipped with charging pile and empty van state 1), robot 2 loads the intelligent dustbin 1 in empty van state to the loading platform 22 of itself from storage area, loading Step corresponding embodiment as shown in above-mentioned 2,3,4 and 5, this is no longer going to repeat them.Robot 2 is loaded in empty van state After intelligent dustbin 1, target rubbish is moved to according to garbage transporting instruction and launches region, carrying is then in empty van state Intelligent dustbin 1 be offloaded to target rubbish launch region.Target rubbish launches the waste management user input second at region Identity information unlock the rubbish unpacked take away in cabinet 12 until weighing inductor detects that weight value is zero, weighing Inductor detects that weight value is zero to show that the rubbish in cabinet 12 is all removed, it is subsequent by waste management user oneself or It gives third party and carries out garbage disposal.

Robot 2 go to target rubbish launch region by Intelligent target dustbin 1 load transport to waste management region it Before, it can will load the intelligent dustbin 1 in empty van state and target rubbish is gone to launch region.All rubbish launch the card in region Seat is settable multiple, after robot unloads the intelligent dustbin 1 in empty van state, refills and carries Intelligent target dustbin 1 Waste management region is exited to, can guarantee that rubbish launches region and has available intelligent dustbin always in this way.

Illustratively, hospital carry out treatment of!medical waste include medical waste launch part, medical waste transhipment part and Medical waste administrative section all includes Data Detection and monitoring system.

One, medical waste is launched part and is included the following steps:

1), it is changed into medical waste, the medical matters people of injection section after medical supplies (injection needle, cotton swab etc.) use of injection section Member (i.e. of the present invention rubbish dispensing user) is by medical waste packaging seal.

2), the intelligent dustbin 1 that the medical worker of injection section goes to the rubbish of injection section to launch at region scans itself Work card, so that the smart lock of intelligent dustbin 1 is opened and opens chamber door 13.

3), packaged medical waste is thrown in the cabinet 12 of intelligent dustbin 1 by the medical worker of injection section.

4), the weighing inductor in intelligent dustbin 1 is weighed automatically, and the garbage throwing weight information that weighing obtains is reported After server, the medical worker of injection section is left.

Entire medical waste launches part, and having recorded is which department, which personnel, rubbish release time and rubbish are launched Weight information.

Two, medical waste transhipment part includes the following steps:

1), robot 2 obtains the garbage transporting instruction that intelligent dustbin 1 is sent, and waste management region etc. is gone to be placed with The region of intelligent dustbin 1 in empty van state loads the intelligent dustbin 1 in empty van state and target rubbish is gone to throw The rubbish for putting the i.e. injection section in region launches region, and the rubbish that the intelligent dustbin 1 in empty van state is offloaded to injection section is thrown Region is put, then loads Intelligent target dustbin 1 to the loading platform 22 of itself.

2), robot 2 carries Intelligent target dustbin 1 and moves to waste management region, the monitoring case in moving process Whether garbage weight changes in body 12, and starts camera and carry out video record.

Three, medical waste administrative section includes the following steps:

1), robot 2 transports Intelligent target dustbin 1 to waste management region, and Intelligent target dustbin 1 is unloaded.

2), the cleaner at waste management region (i.e. waste management user) is by the work card of itself close to Intelligent target rubbish Case 1 is scanned, and the smart lock of Intelligent target dustbin 1 is opened and opens chamber door 13.

3), cleaner takes rubbish away out of Intelligent target dustbin 1 cabinet 12.

4), the weighing inductor in Intelligent target dustbin 1 is weighed automatically, takes garbage weight information away for what weighing obtained After being reported to server, the medical worker of injection section is left.

Entire medical waste administrative section, having recorded is which department, which personnel, rubbish take the time away and takes rubbish away Weight information.

The present invention can precisely arrive each transhipment link of rubbish, carry out whole flow process pipe of the rubbish from dispensing, transport, management Control.Garbage weight in transportational process in cabinet 12 is alarmed at once when changing, and everyone has responsibility.Monitoring system is to dispensing, fortune The operation data of defeated, management whole flow process arranges and files, and promotes garbage disposal security level, can monitor each loading automatically Garbage weight, accomplish to operate it is preceding launch, transhipment neutralize transhipment terminate can accurate perception all data, if having it is abnormal can be actively Alarm fundamentally prevents idler and contacts and reduce waste disposal workers quantity significantly, reduces labour cost, disposable to throw Enter, long annual earnings.Intelligent dustbin 1, intelligent environment protection are not transported in the mode for needing manually to haul, convenience and high-efficiency is grasped in real time The state of intelligent dustbin 1 pinpoints Selection and call robot 2 and carries out garbage transporting, on demand so that the intelligent rubbish in public environment Rubbish case 1 manages more efficient, reduces labor workload, improves work efficiency.In addition, after getting garbage transporting instruction It goes to rubbish to launch regional load intelligent dustbin 1, reduces the patrol frequency of intelligent dustbin 1, improve energy conservation and environmental protection, avoid The case where intelligent dustbin 1 is underfilled with or has overfilled when needing manually to remove to clear intelligent dustbin 1 appearance improves refuse collection effect Rate.The present invention realize rubbish collect, weighing, information reporting, automatic calling robot 2, automatic transhipment, monitoring on the way, certainly automatically Dynamic unloading, rubbish summarize the information closed loop collected and sign for whole flow process.Robot 2 automatically dispenses, unmanned automatic transportation, entirely Process is monitored, and transit link is without dead angle.Woprk standardization solves transport hygienic issues.

One embodiment of the invention, a kind of waste management system based on robot, as shown in Figure 9, comprising: server 300, several intelligent dustbins 1 and robot 2；Server 300 includes: third communication module 320 and Second processing module 310；Intelligent dustbin 1 includes cabinet 12, chamber door 13, is equipped with smart lock at chamber door 13；Intelligent dustbin 1 includes obtaining module 110, first processing module 120, Weighing module 140, first communication module 150, unlocking control module set on 12 bottom of cabinet 160；Robot 2 includes second communication module 220, mobile module 230, locating module 210 and control module 240；Robot 2 is set There is loading platform 22；

Locating module 210, for positioning the location information for obtaining robot 2；

Second communication module 220 is connect with locating module 210, for sending location information to third communication module 320；

Module 110 is obtained, launches corresponding first identity information of user for obtaining rubbish；

Unlocking control module 160 is connect with module 110 is obtained, for opening corresponding intelligence according to the first identity information Lock；

First processing module 120, for recording the rubbish release time；

Weighing module 140, for detecting the garbage throwing weight information for being thrown to rubbish in cabinet 12；

First communication module 150 connect with acquisition module 110, first processing module 120 and Weighing module 140 respectively, uses Record is launched to third communication module 320 in the rubbish for sending rubbish dispensing user；It includes that rubbish launches area that rubbish, which launches record, Domain, the first identity information, rubbish release time and garbage throwing weight information；

First processing module 120 is also used to generate garbage transporting instruction；Garbage transporting instruction includes that target rubbish launches area The label in domain and intelligent dustbin 1；

First communication module 150 is also used to send garbage transporting and instructs to robot 2；

Mobile module 230, for being referred to according to second communication module 220 from the garbage transporting that first communication module 150 obtains Order is moved to target rubbish and launches region；

Control module 240, for loading Intelligent target dustbin 1 to loading platform 22；

Mobile module 230 is moved to waste management region after Intelligent target dustbin 1 is loaded to loading platform 22；

Control module 240 is also used to the intelligent dustbin 1 of loading being offloaded to waste management region；

Second processing module 310 is thrown for obtaining and saving the location information obtained from third communication module 320 and rubbish The rubbish for putting user launches record.

Specifically, the present embodiment is the corresponding system embodiment of above method embodiment, specific effect is referring to above-mentioned implementation Example, this is no longer going to repeat them.

Based on previous embodiment, as shown in Figures 2 and 3, intelligent dustbin 1 is equipped with bottom plate 11；11 edge of bottom plate is opposite to be equipped with Several support legs 14, bottom plate 11 and support leg 14 form accommodation space 15；

Control module 240 is also used to tune up between loading platform 22 and ground when being moved at target rubbish dispensing region Height so that loading platform 22 docking be contained in target accommodation space 15；

Control module 240, be also used to when loading platform 22 dock be contained in target accommodation space 15 after, turn down loading platform 22 with Height between bottom plate 11 is until loading platform 22 is contacted with bottom plate 11, so that Intelligent target dustbin 1 is loaded to loading platform 22 On；

Based on previous embodiment, as shown in Fig. 2,4,5 and 6, rubbish launches region and is equipped with deck 3；12 bottom length and width of cabinet Less than or equal to 22 length and width of loading platform, the opposite sides at 12 top of cabinet is equipped with the card slot 17 for adapting to 3 support portion 31 of deck, and case The height of body 12 is more than or equal to the length of 31 vertical direction of support portion；

Control module 240, be also used to when be moved to rubbish launch region target deck 3 at when, adjust loading platform 22 with Height between ground, control loading platform 22 carries 1 breakaway deck 3 of Intelligent target dustbin, so that Intelligent target rubbish Rubbish case 1 is loaded to loading platform 22；

Based on previous embodiment, comprising:

Module 110 is obtained, is also used to obtain corresponding second identity information of waste management user；

Unlocking control module 160 is also used to open corresponding smart lock according to the second identity information；

First processing module 120 is also used to record rubbish and takes the time away；

Weighing module 140, be also used to detect be removed rubbish out of cabinet 12 take garbage weight information away；

First communication module 150 is also used to send rubbish and takes record away to third communication module 320；Rubbish takes record away The time is taken away including the second identity information, rubbish and takes garbage weight information away；

Second processing module 310 is also used to obtain and save from the rubbish that third communication module 320 obtains and takes record away.

Based on previous embodiment, intelligent dustbin 1 further include: alarm module；

Alarm module is connect with Weighing module 140, for transporting when from rubbish dispensing region to the mistake in waste management region When detecting that the garbage weight in cabinet 12 changes in journey, warning message is generated；

First communication module 150, connect with alarm module, for sending warning message to third communication module 320.

Based on previous embodiment, intelligent dustbin 1 further include: photographing module；

Photographing module is connect with Weighing module 140, for transporting when from rubbish dispensing region to the mistake in waste management region When detecting that the garbage weight in cabinet 12 changes in journey, starting is set to camera progress video record and obtains monitoring record Picture；

First communication module 150, connect with photographing module, for sending monitoring video to third communication module 320.

Based on previous embodiment, further includes:

First processing module 120, the garbage throwing weight information for being also used to detect when Weighing module 140 reach default weight When measuring threshold value, garbage transporting instruction is generated；

First processing module 120 is also used to get the confirmation message that rubbish launches user's input when acquisition module 110 Afterwards, garbage transporting instruction is generated.

Based on previous embodiment, further includes:

Control module 240 is also used to load the intelligent dustbin 1 for being in empty van state；

Control module 240 is also used to launch area when loading is moved to target rubbish in the intelligent dustbin 1 of empty van state Behind domain, unloading is in the intelligent dustbin 1 of empty van state.

It should be noted that above-described embodiment can be freely combined as needed.The above is only of the invention preferred Embodiment, it is noted that for those skilled in the art, in the premise for not departing from the principle of the invention Under, several improvements and modifications can also be made, these modifications and embellishments should also be considered as the scope of protection of the present invention.

Claims

1. a kind of waste management system based on robot characterized by comprising server, several intelligent dustbins and Robot；The server includes: third communication module and Second processing module；The intelligent dustbin includes cabinet, chamber door, Smart lock is equipped at the chamber door；The intelligent dustbin includes obtaining module, first processing module, being set to the bottom of box Weighing module, first communication module, unlocking control module；The robot includes second communication module, mobile module, positioning Module and control module；The robot is equipped with loading platform；

The second communication module is connect with the locating module, for sending the location information to the third communication mould Block；

The unlocking control module is connect with the acquisition module, for opening corresponding intelligence according to first identity information It can lock；

The first processing module, for recording the rubbish release time；

The first communication module is connect with the acquisition module, the first processing module and the Weighing module respectively, is used Record is launched to the third communication module in the rubbish for sending the rubbish dispensing user；It includes rubbish that the rubbish, which launches record, Rubbish launches region, first identity information, the rubbish release time and the garbage throwing weight information；

The first processing module is also used to generate garbage transporting instruction；The garbage transporting instruction includes that target rubbish is launched The label in region and intelligent dustbin；

The mobile module, the garbage transporting for being obtained according to the second communication module from the first communication module Instruction is moved to the target rubbish and launches region；

The mobile module is moved to waste management region after the Intelligent target dustbin is loaded to the loading platform；

The Second processing module, for obtaining and saving the location information and described obtained from the third communication module The rubbish that rubbish launches user launches record.

2. the waste management system according to claim 1 based on robot, which is characterized in that the intelligent dustbin is set There is bottom plate；The bottom edge is opposite to be equipped with several support legs, and the bottom plate and support leg form accommodation space；

The control module is also used to tune up the loading platform and ground when being moved at target rubbish dispensing region Between height so that the loading platform docking be contained in target accommodation space；

The control module, be also used to when the loading platform dock be contained in target accommodation space after, turn down the loading platform with Until height between the bottom plate to the loading platform and the contacts baseplate so that the Intelligent target dustbin load to On the loading platform；

3. the waste management system according to claim 1 based on robot, which is characterized in that the rubbish launches region Equipped with deck；The bottom of box length and width are less than or equal to the loading platform length and width, and the opposite sides of the top of the box is equipped with suitable Card slot assigned in the deck support portion, and the height of the cabinet is more than or equal to the length of support portion vertical direction；

The control module adjusts the loading platform when being also used at the target deck for being moved to rubbish dispensing region Height between ground, controlling the loading platform carries the Intelligent target dustbin disengaging target deck, so that The Intelligent target dustbin is loaded to the loading platform；

4. the waste management system according to claim 1 based on robot, it is characterised in that:

The acquisition module is also used to obtain corresponding second identity information of waste management user；

The first communication module is also used to send rubbish and takes record away to the third communication module；The rubbish takes note away Record includes that second identity information, the rubbish take the time away and described takes garbage weight information away；

The Second processing module is also used to obtain and save from the rubbish that the third communication module obtains and takes note away Record.

5. the waste management system according to claim 1 or 4 based on robot, which is characterized in that the intelligent garbage Case further include: alarm module；

The alarm module is connect with the Weighing module, for transporting when from rubbish dispensing region to waste management region When detecting that the intracorporal garbage weight of the case changes in the process, warning message is generated；

The first communication module is connect with the alarm module, for sending the warning message to the third communication mould Block.

6. the waste management system according to claim 5 based on robot, which is characterized in that the intelligent dustbin is also It include: photographing module；

The photographing module is connect with the Weighing module, for transporting when from rubbish dispensing region to waste management region When detecting that the intracorporal garbage weight of the case changes in the process, starting is set to camera progress video record and is monitored Video recording；

The first communication module is connect with the photographing module, for sending the monitoring video to the third communication mould Block.

7. the waste management system according to claim 1 based on robot, it is characterised in that:

The first processing module, the garbage throwing weight information for being also used to detect when the Weighing module reach preset weight When threshold value, the garbage transporting instruction is generated；

The first processing module is also used to after the acquisition module gets rubbish and launches the confirmation message of user's input, Generate the garbage transporting instruction.

8. the waste management system according to claim 1 based on robot, it is characterised in that:

The control module is also used to load the intelligent dustbin for being in empty van state；

The control module is also used to throw when the loading intelligent dustbin in empty van state is moved to the target rubbish After putting region, the unloading intelligent dustbin for being in empty van state.

9. a kind of waste management method based on robot, which is characterized in that comprising steps of

Intelligent dustbin obtains rubbish and launches corresponding first identity information of user, is opened and is corresponded to according to first identity information Smart lock；The intelligent dustbin includes cabinet, chamber door, is equipped with smart lock at the chamber door；

The intelligent dustbin records the rubbish release time and detects the garbage throwing weight letter for being thrown to the case internal rubbish Breath；

The rubbish that the intelligent dustbin sends the rubbish dispensing user launches record to the server；The rubbish is launched Record includes that rubbish launches region, first identity information, the rubbish release time and the garbage throwing weight information；

The intelligent dustbin generates garbage transporting instruction；The garbage transporting instruction includes that target rubbish launches region and intelligence The label of dustbin；

The robot is moved to the target rubbish according to the garbage transporting instruction obtained from the intelligent dustbin and throws Put region；

The robot loads Intelligent target dustbin to the loading platform；

The robot is moved to waste management region, and the intelligent dustbin of the loading is offloaded to the waste management area Domain.

10. the waste management method according to claim 9 based on robot, which is characterized in that the intelligent dustbin Equipped with bottom plate；The bottom edge is opposite to be equipped with several support legs, and the bottom plate and support leg form accommodation space；

When being moved at target rubbish dispensing region, the robot tunes up the height between the loading platform and ground Degree, so that loading platform docking is contained in target accommodation space；

After loading platform docking is contained in target accommodation space, the robot turn down the loading platform and the bottom plate it Between height to the loading platform and the contacts baseplate until so that the Intelligent target dustbin is loaded to the loading platform On；

11. the waste management method according to claim 9 based on robot, which is characterized in that the rubbish launches area Domain is equipped with deck；The bottom of box length and width are less than or equal to the loading platform length and width, and the opposite sides of the top of the box is equipped with The card slot of the deck support portion is adapted to, and the height of the cabinet is more than or equal to the length of support portion vertical direction；

When at the target deck for being moved to rubbish dispensing region, the robot is adjusted between the loading platform and ground Height, control the loading platform and carry the Intelligent target dustbin and be detached from the target deck, so that the target intelligence Energy dustbin is loaded to the loading platform；

12. the waste management method according to claim 9 based on robot, which is characterized in that the robot is mobile To waste management region, the intelligent dustbin of the loading is offloaded to after the waste management region and is further comprised the steps of:

Intelligent dustbin record rubbish takes the time away, and detect be removed rubbish out of described cabinet take garbage weight away Information；

The intelligent dustbin sends rubbish and takes record away to the server；It includes second body that the rubbish, which takes record away, Part information, the rubbish take the time away and described take garbage weight information away；

The server, which obtains and saves the rubbish, takes record away.

13. the waste management method according to claim 9 or 12 based on robot, which is characterized in that further comprise the steps of:

Detect that the intracorporal garbage weight of the case occurs during region is transported to waste management region when launching from rubbish When variation, the intelligent dustbin generates warning message；

The intelligent dustbin sends the warning message to the server.

14. the waste management method according to claim 13 based on robot, which is characterized in that further comprise the steps of:

Detect that the intracorporal garbage weight of the case occurs during region is transported to waste management region when launching from rubbish When variation, the intelligent dustbin starting camera carries out video record and obtains monitoring video；

The intelligent dustbin sends the monitoring video to the server.

15. the waste management method according to claim 9 based on robot, which is characterized in that the intelligent dustbin It generates garbage transporting instruction and specifically includes step:

When the garbage throwing weight information detected reaches preset weight threshold value, the intelligent dustbin generates the rubbish fortune Defeated instruction；Or,

After getting the confirmation message of rubbish dispensing user's input, the intelligent dustbin generates the garbage transporting instruction.

16. the waste management method according to claim 9 based on robot, which is characterized in that the robot is from institute After stating the intelligent dustbin acquisition garbage transporting instruction, the robot is moved to before target rubbish dispensing region Comprising steps of

The robot loads the intelligent dustbin for being in empty van state；

The robot is moved to after the target rubbish launches region, the robot by Intelligent target dustbin load to On the loading platform before comprising steps of